add convert function

Author: neka-nat

.github/workflows/c-cpp.yml

@@ -57,8 +57,10 @@ jobs:
         rename s/linux/manylinux1/ *.whl
     - name: Publish package
       if: github.event_name == 'push' && startsWith(github.ref, 'refs/tags')
-      uses: pypa/gh-action-pypi-publish@master
-      with:
-        user: ${{ secrets.pypi_username }}
-        password: ${{ secrets.pypi_password }}
-        packages_dir: build/lib/python_package
+      env:
+        PYPI_USERNAME: ${{ secrets.pypi_username }}
+        PYPI_PASSWORD: ${{ secrets.pypi_password }}
+      run: |
+        python -m pip install twine
+        cd build/lib/python_package
+        python -m twine upload -u ${PYPI_USERNAME} -p ${PYPI_PASSWORD} pip_package/*

src/cupoch/geometry/distancetransform.h

@@ -25,6 +25,7 @@
 namespace cupoch {
 namespace geometry {
 class VoxelGrid;
+class OccupancyGrid;
 
 class DistanceVoxel {
 public:
@@ -68,6 +69,8 @@ class DistanceTransform : public DenseGrid<DistanceVoxel> {
     float GetDistance(const Eigen::Vector3f& query) const;
     utility::device_vector<float> GetDistances(const utility::device_vector<Eigen::Vector3f>& queries) const;
 
+    static std::shared_ptr<DistanceTransform> CreateFromOccupancyGrid(const OccupancyGrid &input);
+
 private:
     utility::device_vector<DistanceVoxel> buffer_;
 };

src/cupoch/geometry/distancetransform_factory.cu

@@ -0,0 +1,51 @@
+/**
+ * Copyright (c) 2020 Neka-Nat
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+**/
+#include "cupoch/geometry/occupancygrid.h"
+#include "cupoch/geometry/distancetransform.h"
+
+namespace cupoch {
+namespace geometry {
+
+std::shared_ptr<DistanceTransform> DistanceTransform::CreateFromOccupancyGrid(const OccupancyGrid &input) {
+    auto output = std::make_shared<DistanceTransform>();
+    if (input.voxel_size_ <= 0.0) {
+        utility::LogError("[CreateOccupancyGrid] occupancy grid  voxel_size <= 0.");
+    }
+    output->voxel_size_ = input.voxel_size_;
+    output->origin_ = input.origin_;
+    output->resolution_ = input.resolution_;
+    output->voxels_.resize(input.voxels_.size());
+    std::shared_ptr<utility::device_vector<OccupancyVoxel>> occvoxels = input.ExtractOccupiedVoxels();
+    thrust::transform(occvoxels->begin(), occvoxels->end(),
+                      thrust::make_permutation_iterator(
+                            output->voxels_.begin(),
+                            thrust::make_transform_iterator(occvoxels->begin(),
+                                                            [res = output->resolution_] __device__ (const OccupancyVoxel& voxel) {
+                                                                return IndexOf(voxel.grid_index_.cast<int>(), res);
+                                                            })),
+                      [res = output->resolution_] __device__ (const OccupancyVoxel& voxel) {
+                          return DistanceVoxel(voxel.grid_index_, 0);
+                      });
+    return output;
+}
+
+}
+}

src/cupoch/geometry/voxelgrid.h

@@ -41,6 +41,7 @@ class PointCloud;
 class TriangleMesh;
 class OrientedBoundingBox;
 class Image;
+class OccupancyGrid;
 
 __device__ const int INVALID_VOXEL_INDEX = std::numeric_limits<int>::min();
 
@@ -194,6 +195,9 @@ class VoxelGrid : public GeometryBase<3> {
             const Eigen::Vector3f &min_bound,
             const Eigen::Vector3f &max_bound);
 
+    static std::shared_ptr<VoxelGrid> CreateFromOccupancyGrid(
+            const OccupancyGrid &input);
+
 public:
     float voxel_size_ = 0.0;
     Eigen::Vector3f origin_ = Eigen::Vector3f::Zero();

src/cupoch/geometry/voxelgrid_factory.cu

@@ -25,6 +25,7 @@
 #include "cupoch/geometry/intersection_test.h"
 #include "cupoch/geometry/pointcloud.h"
 #include "cupoch/geometry/trianglemesh.h"
+#include "cupoch/geometry/occupancygrid.h"
 #include "cupoch/geometry/voxelgrid.h"
 #include "cupoch/utility/console.h"
 #include "cupoch/utility/platform.h"
@@ -273,4 +274,25 @@ std::shared_ptr<VoxelGrid> VoxelGrid::CreateFromTriangleMesh(
     Eigen::Vector3f max_bound = input.GetMaxBound() + voxel_size3 * 0.5;
     return CreateFromTriangleMeshWithinBounds(input, voxel_size, min_bound,
                                               max_bound);
+}
+
+std::shared_ptr<VoxelGrid> VoxelGrid::CreateFromOccupancyGrid(
+    const OccupancyGrid &input) {
+    auto output = std::make_shared<VoxelGrid>();
+    if (input.voxel_size_ <= 0.0) {
+        utility::LogError("[CreateOccupancyGrid] occupancy grid  voxel_size <= 0.");
+    }
+    output->voxel_size_ = input.voxel_size_;
+    output->origin_ = input.origin_;
+    std::shared_ptr<utility::device_vector<OccupancyVoxel>> occvoxels = input.ExtractOccupiedVoxels();
+    output->voxels_keys_.resize(occvoxels->size());
+    output->voxels_values_.resize(occvoxels->size());
+    thrust::transform(occvoxels->begin(), occvoxels->end(),
+                      make_tuple_begin(output->voxels_keys_, output->voxels_values_),
+                      [] __device__ (const OccupancyVoxel& voxel) {
+                          return thrust::make_tuple(voxel.grid_index_.cast<int>(),
+                                                    Voxel(voxel.grid_index_.cast<int>(),
+                                                          voxel.color_));
+                      });
+    return output;
 }

src/cupoch/version.txt

@@ -1,4 +1,4 @@
 CUPOCH_VERSION_MAJOR 0
 CUPOCH_VERSION_MINOR 1
-CUPOCH_VERSION_PATCH 3
-CUPOCH_VERSION_TWEAK 0
+CUPOCH_VERSION_PATCH 4
+CUPOCH_VERSION_TWEAK 1

src/python/cupoch_pybind/geometry/distancetransform.cpp

@@ -80,6 +80,10 @@ void pybind_distancetransform(py::module &m) {
                  "Function to compute EDT from voxel grid.")
             .def("get_distance", &geometry::DistanceTransform::GetDistance)
             .def("get_distances", &geometry::DistanceTransform::GetDistances)
+            .def_static(
+                    "create_from_occupancy_grid",
+                    &geometry::DistanceTransform::CreateFromOccupancyGrid,
+                    "Function to make voxels from a Occupancy Grid")
             .def_readwrite("voxel_size", &geometry::DistanceTransform::voxel_size_)
             .def_readwrite("resolution", &geometry::DistanceTransform::resolution_)
             .def_readwrite("origin", &geometry::DistanceTransform::origin_);

src/python/cupoch_pybind/geometry/voxelgrid.cpp

@@ -151,6 +151,10 @@ void pybind_voxelgrid(py::module &m) {
                     &geometry::VoxelGrid::CreateFromTriangleMeshWithinBounds,
                     "Function to make voxels from a PointCloud", "input"_a,
                     "voxel_size"_a, "min_bound"_a, "max_bound"_a)
+            .def_static(
+                    "create_from_occupancy_grid",
+                    &geometry::VoxelGrid::CreateFromOccupancyGrid,
+                    "Function to make voxels from a Occupancy Grid")
             .def_readwrite("origin", &geometry::VoxelGrid::origin_,
                            "``float32`` vector of length 3: Coorindate of the "
                            "origin point.")